CN111337045A - Vehicle navigation method and device - Google Patents
Vehicle navigation method and device Download PDFInfo
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- CN111337045A CN111337045A CN202010228118.5A CN202010228118A CN111337045A CN 111337045 A CN111337045 A CN 111337045A CN 202010228118 A CN202010228118 A CN 202010228118A CN 111337045 A CN111337045 A CN 111337045A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3492—Special cost functions, i.e. other than distance or default speed limit of road segments employing speed data or traffic data, e.g. real-time or historical
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3658—Lane guidance
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Abstract
The embodiment of the application discloses a vehicle navigation method and device, which can be used in the field of automatic parking. One embodiment of the method comprises: receiving a navigation request sent by a user of a non-autonomous vehicle, wherein the navigation request comprises current driving information of the non-autonomous vehicle; determining a current driving road of the non-autonomous vehicle based on the current driving information; searching a current lane-level vehicle speed corresponding to a current driving road from a lane-level navigation map library, wherein the lane-level navigation map library stores a lane-level navigation map, and the lane-level navigation map stores the lane-level vehicle speed uploaded by the automatic driving vehicle in real time; navigation information is fed back to a user of the non-autonomous vehicle based on the current lane-level vehicle speed. The embodiment realizes lane-level navigation of the non-automatic driving vehicle and is beneficial to relieving traffic jam.
Description
Technical Field
The embodiment of the application relates to the technical field of computers, in particular to a vehicle navigation method and device.
Background
With the continuous development of the automobile market, urban traffic is increasingly busy. Congestion during rush hours has become a common phenomenon in a two-line large city. Busy work keeps people more time-consuming. However, travel congestion causes people who are pursuing more and more efficiency to become anxious.
Urban traffic congestion mainly comprises the following two types: one is true congestion, namely each lane is congested due to large traffic flow; and the other is false congestion, i.e., the illusion of congestion due to the congestion of a portion of the lane. For example, in the vicinity of a school or office area, the travel of a straight lane to the right side is not smooth due to an excessive number of parked vehicles. As another example, a vehicle collision in a lane may cause the lane to be completely blocked. False congestion, such as this, is detrimental to maximizing traffic utilization and also presents additional risks to the driver.
Disclosure of Invention
The embodiment of the application provides a vehicle navigation method and device.
In a first aspect, an embodiment of the present application provides a vehicle navigation method, including: receiving a navigation request sent by a user of a non-autonomous vehicle, wherein the navigation request comprises current driving information of the non-autonomous vehicle; determining a current driving road of the non-autonomous vehicle based on the current driving information; searching a current lane-level vehicle speed corresponding to a current driving road from a lane-level navigation map library, wherein the lane-level navigation map library stores a lane-level navigation map, and the lane-level navigation map stores the lane-level vehicle speed uploaded by the automatic driving vehicle in real time; navigation information is fed back to a user of the non-autonomous vehicle based on the current lane-level vehicle speed.
In some embodiments, the current driving information includes current location information of the non-autonomous vehicle; and determining a current driving road of the non-autonomous vehicle based on the current driving information, including: and matching the current positioning information with the roads in the lane-level navigation map library, and determining the matched roads as the current driving roads.
In some embodiments, the lane-level navigation map library is updated by: receiving lane marks and lane-level vehicle speeds uploaded by an automatic driving vehicle in real time; determining a lane level navigation map matched with the lane mark from a lane level navigation map library; and updating the lane-level vehicle speed to the lane corresponding to the lane mark in the matched lane-level navigation map.
In some embodiments, determining a lane-level navigation map matching a lane identification from a library of lane-level navigation maps comprises: searching for a matched lane-level navigation map identifier based on the lane identifier; and acquiring a lane-level navigation map corresponding to the matched lane-level navigation map identification from the lane-level navigation map library.
In some embodiments, updating the lane-level vehicle speed to the lane corresponding to the lane identification in the matched lane-level navigation map comprises: if the original lane-level vehicle speed does not exist on the lane, adding the lane-level vehicle speed to the lane; and if the original lane-level vehicle speed exists on the lane, covering the original lane-level vehicle speed by using the lane-level vehicle speed.
In a second aspect, an embodiment of the present application provides a vehicle navigation device, including: a receiving unit configured to receive a navigation request transmitted by a user of a non-autonomous vehicle, wherein the navigation request includes current travel information of the non-autonomous vehicle; a determination unit configured to determine a current travel road of the non-autonomous vehicle based on the current travel information; the searching unit is configured to search a current lane-level vehicle speed corresponding to a current driving road from a lane-level navigation map library, wherein the lane-level navigation map library stores a lane-level navigation map, and the lane-level navigation map stores the lane-level vehicle speed uploaded by the automatic driving vehicle in real time; a feedback unit configured to feed back navigation information to a user of the non-autonomous vehicle based on a current lane-level vehicle speed.
In some embodiments, the current driving information includes current location information of the non-autonomous vehicle; and the determining unit is further configured to: and matching the current positioning information with the roads in the lane-level navigation map library, and determining the matched roads as the current driving roads.
In some embodiments, the lane-level navigation map library is updated by: receiving lane marks and lane-level vehicle speeds uploaded by an automatic driving vehicle in real time; determining a lane level navigation map matched with the lane mark from a lane level navigation map library; and updating the lane-level vehicle speed to the lane corresponding to the lane mark in the matched lane-level navigation map.
In some embodiments, determining a lane-level navigation map matching a lane identification from a library of lane-level navigation maps comprises: searching for a matched lane-level navigation map identifier based on the lane identifier; and acquiring a lane-level navigation map corresponding to the matched lane-level navigation map identification from the lane-level navigation map library.
In some embodiments, updating the lane-level vehicle speed to the lane corresponding to the lane identification in the matched lane-level navigation map comprises: if the original lane-level vehicle speed does not exist on the lane, adding the lane-level vehicle speed to the lane; and if the original lane-level vehicle speed exists on the lane, covering the original lane-level vehicle speed by using the lane-level vehicle speed.
In a third aspect, an embodiment of the present application provides an electronic device, including: one or more processors; a storage device having one or more programs stored thereon; when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the method as described in any implementation of the first aspect.
In a fourth aspect, the present application provides a computer-readable medium, on which a computer program is stored, which, when executed by a processor, implements the method as described in any implementation manner of the first aspect.
According to the vehicle navigation method and device provided by the embodiment of the application, firstly, a navigation request sent by a user of a non-automatic driving vehicle is received; then determining a current driving road of the non-autonomous vehicle based on the current driving information; then searching the current lane-level vehicle speed corresponding to the current driving road from the lane-level navigation map library; and finally, feeding back navigation information to a user of the non-automatic driving vehicle based on the current lane-level vehicle speed so that the user of the non-automatic driving vehicle can select a lane to drive according to the navigation information. Therefore, lane-level navigation of the non-automatic driving vehicle is realized, and traffic jam is relieved. In addition, real congestion and false congestion can be distinguished based on the current lane-level vehicle speed, and when the false congestion occurs, the lane is selected for driving in an auxiliary mode, so that the traffic efficiency is maximized, and the probability of traffic accidents caused by the false congestion is reduced.
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Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 is an exemplary system architecture to which the present application may be applied;
FIG. 2 is a flow diagram of one embodiment of a vehicle navigation method according to the present application;
FIG. 3 is a schematic diagram of an application scenario of a vehicle navigation method according to the present application;
FIG. 4 is a flow diagram of one embodiment of a lane-level navigation map library update method according to the present application;
fig. 5 is a schematic configuration diagram of an embodiment of a vehicular navigation apparatus according to the present application;
FIG. 6 is a schematic block diagram of a computer system suitable for use in implementing an electronic device according to embodiments of the present application.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 1 shows an exemplary system architecture 100 to which embodiments of the vehicle navigation method or the vehicle navigation apparatus of the present application may be applied.
As shown in fig. 1, terminal device 101, autonomous vehicle 102, server 103, and network 104 may be included in system architecture 100. Network 104 is the medium used to provide communication links between terminal device 101 and server 103, and between autonomous vehicle 102 and server 103. Network 104 may include various connection types, such as wired, wireless communication links, or fiber optic cables, to name a few.
Various communication client applications, such as navigation applications, may be installed on the terminal device 101. The terminal apparatus 101 may be hardware or software. When the terminal device 101 is hardware, it may be various electronic devices supporting information search, including but not limited to a smart phone, a tablet computer, a portable computer, and the like. When the terminal apparatus 101 is software, it can be installed in the above-described electronic apparatus. It may be implemented as multiple pieces of software or software modules, or as a single piece of software or software module. And is not particularly limited herein.
The server 103 may provide various services. For example, the server 103 may perform processing such as analysis on data such as a navigation request transmitted by the terminal apparatus 101, and return a processing result (e.g., navigation information) to the terminal apparatus 101.
The server 103 may be hardware or software. When the server 103 is hardware, it may be implemented as a distributed server cluster composed of a plurality of servers, or may be implemented as a single server. When the server 103 is software, it may be implemented as multiple pieces of software or software modules (e.g., to provide distributed services), or as a single piece of software or software module. And is not particularly limited herein.
It should be noted that the vehicle navigation method provided in the embodiment of the present application is generally executed by the server 103, and accordingly, the vehicle navigation apparatus is generally disposed in the server 103.
It should be understood that the number of terminal devices, autonomous vehicles, servers, and networks in fig. 1 are merely illustrative. There may be any number of terminal devices, autonomous vehicles, servers, and networks, as desired for implementation.
With continued reference to FIG. 2, a flow 200 of one embodiment of a vehicle navigation method according to the present application is shown. The vehicle navigation method comprises the following steps:
In the present embodiment, the execution subject of the vehicle navigation method (e.g., the server 103 shown in fig. 1) may receive a navigation request transmitted by a user of a non-autonomous vehicle. Generally, a user of a non-autonomous vehicle can send a navigation request to the execution main body through a terminal device (for example, a terminal device 101 shown in fig. 1) carried by the user. The navigation request may include current driving information of the non-autonomous vehicle, among other things. The non-autonomous vehicle may be a vehicle without autonomous driving capability or a vehicle with autonomous driving capability but without an autonomous driving mode enabled. The current driving information may include, but is not limited to, current driving road information, current location information, and the like of the non-driven vehicle.
In step 202, a current driving road of the non-autonomous vehicle is determined based on the current driving information.
In the present embodiment, the execution subject described above may determine the current travel road of the non-autonomous vehicle based on the current travel information. In general, if the current travel information includes current travel road information of the non-driven vehicle, the execution body may determine the current travel road directly based on the current travel road information. For example, the user may directly input the name of the current driving road and initiate a navigation request in the navigation-type application. If the current driving information includes current location information of the non-autonomous vehicle, the executing body may match the current location information with a road in the lane-level navigation map library, and determine the matched road as the current driving road. The current positioning information may be GPS (global positioning System) positioning information of the non-autonomous vehicle. The execution body may match each road in the lane-level navigation map library through a series of GPS positioning information. The road in which the range includes the series of GPS positioning information is the road matched with the current positioning information.
And step 203, searching the current lane-level vehicle speed corresponding to the current driving road from the lane-level navigation map library.
In this embodiment, the executing body may search a current lane-level vehicle speed corresponding to a current driving road from the lane-level navigation map library. In general, a large number of lane-level navigation maps may be stored in a lane-level navigation map library. Each lane-level navigation map may store lane-level vehicle speeds corresponding to lanes uploaded in real-time by autonomous vehicles traveling within its range (e.g., autonomous vehicle 102 shown in fig. 1). The executing body can firstly search the lane level navigation map where the current driving road is located in the lane level navigation map library, and then search the current lane level vehicle speed corresponding to the current driving road from the searched lane level navigation map. Wherein a road may have multiple lanes. The executing body usually finds out the lane-level vehicle speeds corresponding to all lanes of the current driving road.
And step 204, feeding navigation information back to a user of the non-automatic driving vehicle based on the current lane-level vehicle speed.
In this embodiment, the execution body may feed back navigation information to the terminal device of the user of the non-autonomous vehicle based on the current lane-level vehicle speed. Terminal devices of users of non-autonomous vehicles may perform voice broadcast of navigation information. For example, the execution subject may directly feed back the current lane-level vehicle speed as navigation information to the user of the non-autonomous vehicle. At this time, the terminal device of the user of the non-autonomous vehicle can directly perform voice broadcast on the current lane-level vehicle speed. The broadcasted voice content may be, for example, "first lane: vehicle speed 60, second lane: vehicle speed 80, third lane: vehicle speed 80 ". For another example, the execution body may generate the travel advice information based on the current lane-level vehicle speed, and feed back to the user of the non-autonomous vehicle as the navigation information. If the current lane-level vehicle speed is' a first lane: vehicle speed 60, second lane: vehicle speed 80, third lane: the speed of the vehicle is 80 ", and the broadcasted voice content can be, for example," the vehicle can go straight through three lanes and can pass through all the lanes. Wherein, the two-three lane traffic speed is faster, and the suggestion is to drive to the two-three lane in advance.
With further reference to fig. 3, a schematic diagram of an application scenario of the vehicle navigation method according to the present application is shown. In fig. 3, when a non-autonomous vehicle travels to a congested road segment, the driver may send a navigation request to the server through his mobile phone. The server may first determine that the non-autonomous vehicle is currently traveling on road 1 based on the GPS location information in the navigation request; then, three lanes of the road 1 are found out from the lane-level navigation map library, wherein the lane-level speed corresponding to the lane 1 is 60, the lane-level speed corresponding to the lane 2 is 80, and the lane-level speed corresponding to the lane 3 is 80; and finally, generating driving suggestion information based on the lane-level vehicle speed corresponding to the lanes 1-3, and feeding back the driving suggestion information to a user of the non-automatic driving vehicle as navigation information. The mobile phone of the user of the non-autonomous vehicle can perform voice broadcast on the driving suggestion information. Wherein, the voice content of reporting can be all passable in "three lanes of going straight. Wherein, the two-three lane traffic speed is faster, and the suggestion is to drive to the two-three lane in advance.
The vehicle navigation method provided by the embodiment of the application comprises the steps of firstly receiving a navigation request sent by a user of a non-automatic driving vehicle; then determining a current driving road of the non-autonomous vehicle based on the current driving information; then searching the current lane-level vehicle speed corresponding to the current driving road from the lane-level navigation map library; and finally, feeding back navigation information to a user of the non-automatic driving vehicle based on the current lane-level vehicle speed so that the user of the non-automatic driving vehicle can select a lane to drive according to the navigation information. Therefore, lane-level navigation of the non-automatic driving vehicle is realized, and traffic jam is relieved. In addition, real congestion and false congestion can be distinguished based on the current lane-level vehicle speed, and when the false congestion occurs, the lane is selected for driving in an auxiliary mode, so that the traffic efficiency is maximized, and the probability of traffic accidents caused by the false congestion is reduced.
With further reference to fig. 4, a flow 400 of one embodiment of a lane-level navigation map library update method according to the present application is shown. The lane-level navigation map library updating method comprises the following steps:
In this embodiment, an executing subject (e.g., the server 103 shown in fig. 1) of the lane-level navigation map library updating method may receive lane identification and lane-level vehicle speed uploaded by an autonomous vehicle (e.g., the autonomous vehicle 102 shown in fig. 1) in real time. Generally, when the autonomous vehicle starts the autonomous driving mode, the lane identification and the lane-level vehicle speed of the current driving may be fed back to the execution main body in real time.
With the development of artificial intelligence technology, different levels of automated driving have been applied to various models of vehicles. The high-level automatic driving can be divided into four modules of perception, positioning and high-precision map, decision planning and control. The positioning can realize lane-level positioning, and the driving speed of the vehicle on the current lane can be well fed back through the driving speed of the automatic driving vehicle.
In this embodiment, the executing body may determine a lane-level navigation map matching the lane identification from a lane-level navigation map library.
Generally, lane-level navigation map identifications, road identifications, lane identifications, and lane-level vehicle speeds may be stored in the lane-level navigation map library, respectively. Since a plurality of roads may be included within the range of the lane-level navigation map, a plurality of road identifications may correspond to one lane-level navigation map identification. Since a road may include a plurality of lanes, a plurality of lane markers may correspond to one road marker. And one lane may correspond to one lane level vehicle speed. At this time, the executing body may first search for a matching lane-level navigation map identifier based on the lane identifier; and then acquiring a lane-level navigation map corresponding to the matched lane-level navigation map identification from the lane-level navigation map library.
And step 403, updating the lane-level vehicle speed to a lane corresponding to the lane mark in the matched lane-level navigation map.
In this embodiment, the executing body may update the lane-level vehicle speed to the lane corresponding to the lane mark in the matched lane-level navigation map. Typically, one lane corresponds to one lane level vehicle speed. If the original lane-level vehicle speed does not exist on the lane, the execution main body can directly add the lane-level vehicle speed to the lane; if the original lane-level vehicle speed exists on the lane, the execution main body can cover the original lane-level vehicle speed by using the lane-level vehicle speed.
Further, the lane-level navigation map may also be stored in a table form. The lane-level navigation map before updating may be shown in table 1.
| Navigation map lane ID | Navigation map road ID | Speed of rotation | Position of |
| 100001 | 1 | 80 | 1 |
| 100002 | 1 | 80 | 2 |
| 100003 | 1 | 80 | 3 |
| ….. | ….. | ….. | …. |
TABLE 1
If the real-time uploaded lane marker of the autonomous vehicle is 10001 and the lane-level vehicle speed is 60, the updated lane-level navigation map can be shown in table 2.
| Navigation map lane ID | Navigation map road ID | Speed of rotation | Position of |
| 100001 | 1 | 60 | 1 |
| 100002 | 1 | 80 | 2 |
| 100003 | 1 | 80 | 3 |
| ….. | ….. | ….. | …. |
TABLE 2
With further reference to fig. 5, as an implementation of the method shown in the above figures, the present application provides an embodiment of a vehicle navigation device, which corresponds to the embodiment of the method shown in fig. 2, and which is particularly applicable in various electronic devices.
As shown in fig. 5, the vehicular navigation apparatus 500 of the present embodiment may include: a receiving unit 501, a determining unit 502, a searching unit 503 and a feedback unit 504. The receiving unit 501 is configured to receive a navigation request sent by a user of a non-autonomous vehicle, wherein the navigation request includes current driving information of the non-autonomous vehicle; a determination unit 502 configured to determine a current travel road of the non-autonomous vehicle based on the current travel information; a searching unit 503 configured to search a current lane-level vehicle speed corresponding to a current driving road from a lane-level navigation map library, wherein the lane-level navigation map library stores a lane-level navigation map, and the lane-level navigation map stores lane-level vehicle speeds uploaded by the autonomous vehicle in real time; a feedback unit 504 configured to feed back navigation information to a user of the non-autonomous vehicle based on the current lane-level vehicle speed.
In the present embodiment, in the vehicular navigation apparatus 500: the specific processing of the receiving unit 501, the determining unit 502, the searching unit 503 and the feedback unit 504 and the technical effects thereof can refer to the related descriptions of step 201 and step 204 in the corresponding embodiment of fig. 2, which are not repeated herein.
In some optional implementations of this embodiment, the current travel information includes current location information of the non-autonomous vehicle; and the determining unit 502 is further configured to: and matching the current positioning information with the roads in the lane-level navigation map library, and determining the matched roads as the current driving roads.
In some optional implementations of this embodiment, the lane-level navigation map library is updated by: receiving lane marks and lane-level vehicle speeds uploaded by an automatic driving vehicle in real time; determining a lane level navigation map matched with the lane mark from a lane level navigation map library; and updating the lane-level vehicle speed to the lane corresponding to the lane mark in the matched lane-level navigation map.
In some optional implementations of the present embodiment, determining a lane-level navigation map matching lane identification from a lane-level navigation map library includes: searching for a matched lane-level navigation map identifier based on the lane identifier; and acquiring a lane-level navigation map corresponding to the matched lane-level navigation map identification from the lane-level navigation map library.
In some optional implementations of this embodiment, updating the lane-level vehicle speed to the lane corresponding to the lane identifier in the matched lane-level navigation map includes: if the original lane-level vehicle speed does not exist on the lane, adding the lane-level vehicle speed to the lane; and if the original lane-level vehicle speed exists on the lane, covering the original lane-level vehicle speed by using the lane-level vehicle speed.
Referring now to FIG. 6, a block diagram of a computer system 600 suitable for use in implementing an electronic device (e.g., server 103 shown in FIG. 1) of an embodiment of the present application is shown. The electronic device shown in fig. 6 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.
As shown in fig. 6, the computer system 600 includes a Central Processing Unit (CPU)601 that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM)602 or a program loaded from a storage section 608 into a Random Access Memory (RAM) 603. In the RAM 603, various programs and data necessary for the operation of the system 600 are also stored. The CPU 601, ROM 602, and RAM 603 are connected to each other via a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.
The following components are connected to the I/O interface 605: an input portion 606 including a keyboard, a mouse, and the like; an output portion 607 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage section 608 including a hard disk and the like; and a communication section 609 including a network interface card such as a LAN card, a modem, or the like. The communication section 609 performs communication processing via a network such as the internet. The driver 610 is also connected to the I/O interface 605 as needed. A removable medium 611 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 610 as necessary, so that a computer program read out therefrom is mounted in the storage section 608 as necessary.
In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 609, and/or installed from the removable medium 611. The computer program performs the above-described functions defined in the method of the present application when executed by a Central Processing Unit (CPU) 601.
It should be noted that the computer readable medium described herein can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In this application, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or electronic device. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present application may be implemented by software or hardware. The described units may also be provided in a processor, and may be described as: a processor includes a receiving unit, a determining unit, a searching unit, and a feedback unit. Where the names of these units do not constitute a limitation of the unit itself in this case, for example, the receiving unit may also be described as a "unit that receives a navigation request sent by a user of a non-autonomous vehicle".
As another aspect, the present application also provides a computer-readable medium, which may be contained in the electronic device described in the above embodiments; or may exist separately without being assembled into the electronic device. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: receiving a navigation request sent by a user of a non-autonomous vehicle, wherein the navigation request comprises current driving information of the non-autonomous vehicle; determining a current driving road of the non-autonomous vehicle based on the current driving information; searching a current lane-level vehicle speed corresponding to a current driving road from a lane-level navigation map library, wherein the lane-level navigation map library stores a lane-level navigation map, and the lane-level navigation map stores the lane-level vehicle speed uploaded by the automatic driving vehicle in real time; navigation information is fed back to a user of the non-autonomous vehicle based on the current lane-level vehicle speed.
The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention herein disclosed is not limited to the particular combination of features described above, but also encompasses other arrangements formed by any combination of the above features or their equivalents without departing from the spirit of the invention. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.
Claims (12)
1. A vehicle navigation method, comprising:
receiving a navigation request sent by a user of a non-autonomous vehicle, wherein the navigation request comprises current driving information of the non-autonomous vehicle;
determining a current driving road of the non-autonomous vehicle based on the current driving information;
searching a current lane-level vehicle speed corresponding to the current driving road from a lane-level navigation map library, wherein the lane-level navigation map library stores a lane-level navigation map, and the lane-level navigation map stores the lane-level vehicle speed uploaded by the automatic driving vehicle in real time;
feeding back navigation information to a user of the non-autonomous vehicle based on the current lane-level vehicle speed.
2. The method of claim 1, wherein the current driving information includes current location information of the non-autonomous vehicle; and
the determining a current driving road of the non-autonomous vehicle based on the current driving information includes:
and matching the current positioning information with the road in the lane-level navigation map library, and determining the matched road as the current driving road.
3. The method of claim 1, wherein the lane-level navigation map library is updated by:
receiving lane marks and lane-level vehicle speeds uploaded by the automatic driving vehicle in real time;
determining a lane-level navigation map matched with the lane identification from the lane-level navigation map library;
and updating the lane-level vehicle speed to a lane corresponding to the lane mark in the matched lane-level navigation map.
4. The method of claim 3, wherein the determining a lane-level navigation map from the lane-level navigation map library that matches the lane identification comprises:
searching a matched lane-level navigation map mark based on the lane mark;
and acquiring the lane-level navigation map corresponding to the matched lane-level navigation map identification from the lane-level navigation map library.
5. The method of claim 3, wherein the updating the lane-level vehicle speed to the lane corresponding to the lane identification in the matched lane-level navigation map comprises:
if the original lane-level vehicle speed does not exist on the lane, adding the lane-level vehicle speed to the lane;
and if the original lane-level vehicle speed exists on the lane, covering the original lane-level vehicle speed by using the lane-level vehicle speed.
6. A vehicular navigation apparatus comprising:
a receiving unit configured to receive a navigation request transmitted by a user of a non-autonomous vehicle, wherein the navigation request includes current travel information of the non-autonomous vehicle;
a determination unit configured to determine a current travel road of the non-autonomous vehicle based on the current travel information;
a searching unit configured to search a current lane-level vehicle speed corresponding to the current driving road from a lane-level navigation map library, wherein the lane-level navigation map library stores a lane-level navigation map storing lane-level vehicle speeds uploaded by an autonomous vehicle in real time;
a feedback unit configured to feed back navigation information to a user of the non-autonomous vehicle based on the current lane-level vehicle speed.
7. The apparatus of claim 6, wherein the current driving information comprises current location information of the non-autonomous vehicle; and
the determination unit is further configured to:
and matching the current positioning information with the road in the lane-level navigation map library, and determining the matched road as the current driving road.
8. The apparatus of claim 6, wherein the lane-level navigation map library is updated by:
receiving lane marks and lane-level vehicle speeds uploaded by the automatic driving vehicle in real time;
determining a lane-level navigation map matched with the lane identification from the lane-level navigation map library;
and updating the lane-level vehicle speed to a lane corresponding to the lane mark in the matched lane-level navigation map.
9. The apparatus of claim 8, wherein the determining a lane-level navigation map from the lane-level navigation map library that matches the lane identification comprises:
searching a matched lane-level navigation map mark based on the lane mark;
and acquiring the lane-level navigation map corresponding to the matched lane-level navigation map identification from the lane-level navigation map library.
10. The apparatus of claim 8, wherein the updating the lane-level vehicle speed onto the lane corresponding to the lane marking in the matched lane-level navigation map comprises:
if the original lane-level vehicle speed does not exist on the lane, adding the lane-level vehicle speed to the lane;
and if the original lane-level vehicle speed exists on the lane, covering the original lane-level vehicle speed by using the lane-level vehicle speed.
11. An electronic device, comprising:
one or more processors;
a storage device having one or more programs stored thereon,
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-5.
12. A computer-readable medium, on which a computer program is stored, wherein the computer program, when being executed by a processor, carries out the method according to any one of claims 1-5.
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